diff --git a/vllm/engine/arg_utils.py b/vllm/engine/arg_utils.py
index d4dd545dd43a..ceee0d416ce3 100644
--- a/vllm/engine/arg_utils.py
+++ b/vllm/engine/arg_utils.py
@@ -1260,9 +1260,6 @@ def create_engine_config(
                 self.distributed_executor_backend = "mp"
                 logger.info("Using mp-based distributed executor backend "
                             "for async scheduling.")
-            if self.distributed_executor_backend == "uni":
-                raise ValueError("Async scheduling is not supported with "
-                                 "uni-process backend.")
             if self.pipeline_parallel_size > 1:
                 raise ValueError("Async scheduling is not supported with "
                                  "pipeline-parallel-size > 1.")
diff --git a/vllm/executor/uniproc_executor.py b/vllm/executor/uniproc_executor.py
index aabc9ed9b80a..52f64d515099 100644
--- a/vllm/executor/uniproc_executor.py
+++ b/vllm/executor/uniproc_executor.py
@@ -2,17 +2,22 @@
 # SPDX-FileCopyrightText: Copyright contributors to the vLLM project
 
 import os
+from queue import Queue
+from threading import Thread
 from typing import Any, Callable, Dict, List, Optional, Tuple, Union
 
 import torch
 import torch.distributed as dist
 
 import vllm.envs as envs
+from vllm.distributed.parallel_state import get_world_group
 from vllm.executor.executor_base import ExecutorBase
 from vllm.logger import init_logger
 from vllm.utils import (get_distributed_init_method, get_ip, get_open_port,
                         run_method)
+from vllm.v1.core.sched.output import SchedulerOutput
 from vllm.v1.engine import ReconfigureDistributedRequest, ReconfigureRankType
+from vllm.v1.outputs import ModelRunnerOutput
 from vllm.worker.worker_base import WorkerWrapperBase
 
 logger = init_logger(__name__)
@@ -44,9 +49,14 @@ def _init_executor(self) -> None:
             distributed_init_method=distributed_init_method,
             is_driver_worker=is_driver_worker,
         )
+        self.init_execute_model_thread(kwargs)
         self.collective_rpc("init_worker", args=([kwargs], ))
         self.collective_rpc("init_device")
         self.collective_rpc("load_model")
+        if self.vllm_config.scheduler_config.async_scheduling:
+            # start the execute_model thread after initialize distributed
+            # environment.
+            self._execute_model_thread.start()
 
     def collective_rpc(self,
                        method: Union[str, Callable],
@@ -71,6 +81,50 @@ def reinitialize_distributed(
             self.shutdown()
         return
 
+    def _execute_model_loop(self):
+        # we need to set the device for the new thread,
+        # or it just use the default device 0.
+        torch.cuda.set_device(get_world_group().local_rank)
+        while True:
+            try:
+                sheduler_output = self._input_queue.get()
+                if sheduler_output is None:
+                    break
+                super().execute_model(sheduler_output)
+            except Exception as e:
+                self._output_queue.put(e)
+
+    def execute_model(self, scheduler_output: SchedulerOutput):
+        if self.vllm_config.scheduler_config.async_scheduling:
+            self._input_queue.put(scheduler_output)
+            output = self._output_queue.get()
+            if isinstance(output, ModelRunnerOutput):
+                # execute_model thread just finished a step, and get a new
+                # sheduler_output immediately. so we need to block here until
+                # the d2h copy flag is ready.
+                self._output_queue.get()
+            elif isinstance(output, Exception):
+                raise output
+            return output
+        return super().execute_model(scheduler_output)
+
+    def init_execute_model_thread(self, kwargs):
+        if self.vllm_config.scheduler_config.async_scheduling:
+            self._input_queue: Queue = Queue()
+            self._output_queue: Queue = Queue()
+            self._execute_model_thread = Thread(
+                target=self._execute_model_loop,
+                daemon=True,
+                name="execute_model_loop",
+            )
+            kwargs["output_queue"] = self._output_queue
+
+    @property
+    def max_concurrent_batches(self) -> int:
+        if self.vllm_config.scheduler_config.async_scheduling:
+            return 2
+        return 1
+
 
 UniProcExecutorAsync = UniProcExecutor
 
@@ -124,9 +178,14 @@ def _init_executor(self) -> None:
             distributed_init_method=distributed_init_method,
             is_driver_worker=is_driver_worker,
         )
+        self.init_execute_model_thread(kwargs)
         self.collective_rpc("init_worker", args=([kwargs], ))
         self.collective_rpc("init_device")
         self.collective_rpc("load_model")
+        if self.vllm_config.scheduler_config.async_scheduling:
+            # start the execute_model thread after initialize distributed
+            # environment.
+            self._execute_model_thread.start()
 
     def determine_num_available_blocks(self) -> Tuple[int, int]:
         """
diff --git a/vllm/v1/engine/core.py b/vllm/v1/engine/core.py
index 922c06b44be8..abf5b510142a 100644
--- a/vllm/v1/engine/core.py
+++ b/vllm/v1/engine/core.py
@@ -357,6 +357,33 @@ def step_with_batch_queue(
 
         return engine_core_outputs, model_executed
 
+    def step_async_in_process(self):
+        """Make asynchronous schedule in single process."""
+        # Check for any requests remaining in the scheduler - unfinished,
+        # or finished and not yet removed from the batch.
+        batch_queue = self.batch_queue
+        assert batch_queue is not None
+        if not self.scheduler.has_requests():
+            return {}, False
+        engine_core_outputs = {}
+        model_output = None
+        scheduler_output = self.scheduler.schedule()
+        if scheduler_output.total_num_scheduled_tokens > 0:
+            batch_queue.appendleft(scheduler_output)  # type: ignore
+            model_output = self.execute_model_with_error_logging(
+                self.model_executor.execute_model,  # type: ignore
+                scheduler_output)
+        # in single process mode, the model_output may be a bool value to
+        # notify it's time to make  scheduleing of next step.
+        # so in this situation, we don't need to call update_from_output.
+        if isinstance(model_output, ModelRunnerOutput):
+            pre_scheduler_output = batch_queue.pop()
+            engine_core_outputs = self.scheduler.update_from_output(
+                pre_scheduler_output, model_output)  # type: ignore
+
+        return (engine_core_outputs,
+                scheduler_output.total_num_scheduled_tokens > 0)
+
     def shutdown(self):
         self.structured_output_manager.clear_backend()
         if self.model_executor:
diff --git a/vllm/v1/engine/core_client.py b/vllm/v1/engine/core_client.py
index 65f7abc97110..1d066230b25c 100644
--- a/vllm/v1/engine/core_client.py
+++ b/vllm/v1/engine/core_client.py
@@ -243,9 +243,13 @@ class InprocClient(EngineCoreClient):
 
     def __init__(self, *args, **kwargs):
         self.engine_core = EngineCore(*args, **kwargs)
+        self.async_scehduling = self.engine_core.vllm_config.scheduler_config.async_scheduling  # noqa
 
     def get_output(self) -> EngineCoreOutputs:
-        outputs, _ = self.engine_core.step()
+        if self.async_scehduling:
+            outputs, _ = self.engine_core.step_async_in_process()
+        else:
+            outputs, _ = self.engine_core.step()
         return outputs.get(0) or EngineCoreOutputs()
 
     def get_supported_tasks(self) -> tuple[SupportedTask, ...]:
diff --git a/vllm/v1/worker/gpu_model_runner.py b/vllm/v1/worker/gpu_model_runner.py
index 4556a51b809d..7354b4295af6 100644
--- a/vllm/v1/worker/gpu_model_runner.py
+++ b/vllm/v1/worker/gpu_model_runner.py
@@ -8,6 +8,7 @@
 from collections.abc import Iterator
 from contextlib import contextmanager
 from copy import deepcopy
+from queue import Queue
 from typing import TYPE_CHECKING, Any, Optional, Union, cast
 
 import numpy as np
@@ -105,6 +106,7 @@ def __init__(
         self,
         vllm_config: VllmConfig,
         device: torch.device,
+        output_queue: Optional[Queue] = None,
     ):
         self.vllm_config = vllm_config
         self.model_config = vllm_config.model_config
@@ -319,6 +321,10 @@ def __init__(
             dtype=torch.int64,
             device="cpu",
             pin_memory=self.pin_memory)
+        # when enbale aysnc_scheduling in single process mode,
+        # we use a queue to transfer the model outputs and
+        # notify the main thread to make scheduling of next step.
+        self.output_queue = output_queue
 
     def _make_buffer(self, *args, dtype: torch.dtype) -> CpuGpuBuffer:
         return CpuGpuBuffer(*args,
@@ -1739,8 +1745,7 @@ def execute_model(
             )
 
         self.eplb_step()
-
-        return ModelRunnerOutput(
+        output = ModelRunnerOutput(
             req_ids=self.input_batch.req_ids,
             req_id_to_index=self.input_batch.req_id_to_index,
             sampled_token_ids=valid_sampled_token_ids,
@@ -1750,6 +1755,14 @@ def execute_model(
             kv_connector_output=kv_connector_output,
             num_nans_in_logits=num_nans_in_logits,
         )
+        if self.output_queue is None:
+            return output
+        # When using output_queue, deepcopy the req_ids and req_id_to_index
+        # incase the input_batch is modified before the output is consumed.
+        output.req_ids = deepcopy(self.input_batch.req_ids)
+        output.req_id_to_index = deepcopy(self.input_batch.req_id_to_index)
+        self.output_queue.put(output)
+        return output
 
     def take_draft_token_ids(self) -> Optional[DraftTokenIds]:
         if self._draft_token_ids is None:
@@ -3268,5 +3281,9 @@ def _to_list(self, sampled_token_ids: torch.Tensor) -> list[list[int]]:
         pinned = self.sampled_token_ids_pinned_cpu[:sampled_token_ids.shape[0]]
         pinned.copy_(sampled_token_ids, non_blocking=True)
         self.transfer_event.record()
+        if self.output_queue is not None:
+            # just send a flag to notify the main thread to make
+            # scheduling of next step during the synchronizing time.
+            self.output_queue.put(True)
         self.transfer_event.synchronize()
         return pinned.tolist()
diff --git a/vllm/v1/worker/gpu_worker.py b/vllm/v1/worker/gpu_worker.py
index cb000d53a923..df3dd1ee01b8 100644
--- a/vllm/v1/worker/gpu_worker.py
+++ b/vllm/v1/worker/gpu_worker.py
@@ -5,6 +5,7 @@
 import gc
 import os
 from contextlib import AbstractContextManager, nullcontext
+from queue import Queue
 from typing import TYPE_CHECKING, Any, Optional
 
 import torch
@@ -50,6 +51,7 @@ def __init__(
         rank: int,
         distributed_init_method: str,
         is_driver_worker: bool = False,
+        output_queue: Optional[Queue] = None,
     ):
 
         super().__init__(vllm_config=vllm_config,
@@ -93,6 +95,7 @@ def __init__(
                     torch_profiler_trace_dir, use_gzip=True))
         else:
             self.profiler = None
+        self.output_queue = output_queue
 
     def sleep(self, level: int = 1) -> None:
         from vllm.device_allocator.cumem import CuMemAllocator
@@ -199,7 +202,7 @@ def init_device(self):
 
         # Construct the model runner
         self.model_runner: GPUModelRunner = GPUModelRunner(
-            self.vllm_config, self.device)
+            self.vllm_config, self.device, self.output_queue)
 
         if self.rank == 0:
             # If usage stat is enabled, collect relevant info.